Switching Control for Adaptive Disturbance Attenuation

Switching Control for Adaptive Disturbance Attenuation

The problem of adaptive disturbance attenuation is addressed in this paper using a switching control approach. A finite family of stabilizing controllers is pre-designed, with the assumption that, for any possible operating condition, at least one controller is able to achieve a prescribed level of attenuation. Then, at each time instant, a supervisory unit selects the controller associated wit...

Adaptive disturbance attenuation via logic-based switching

The problem of attenuating unknown and possibly time-varying disturbances acting on a linear timeinvariant dynamical system is addressed by means of an adaptive switching control approach. Given a family of pre-designed stabilizing controllers, a supervisory unit infers in real-time the potential behavior of each candidate controller and selects the one providing the best potential performance....

Disturbance Attenuation in Robot Control

In this paper, we propose a model based disturbance attenuator (MBDA) with the conventional PD controller for robot manipulators. It is a generalization of MBDA structure in [l] and is .applied to a robot manipulator which is nonlinear. This method does not require an accurate model of a robot manipulator and takes care of disturbances or modeling errors so that the plant output remains relativ...

Enhancement of Robust Tracking Performance via Switching Supervisory Adaptive Control

When the process is highly uncertain, even linear minimum phase systems must sacrifice desirable feedback control benefits to avoid an excessive ‘cost of feedback’, while preserving the robust stability. In this paper, the problem of supervisory based switching Quantitative Feedback Theory (QFT) control is proposed for the control of highly uncertain plants. According to this strategy, the unce...

Underactuated Vehicle Control - Disturbance Attenuation Analysis